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CAN software stack for 32-bit AVR that supports initializing the CAN bus and sending/receiving data.

Modules
	Related Project(s)
	In this section you can find all the projects related to the CAN software stack.

Data Structures
struct	can_mob_t

Macros
#define	CAN_CMD_ACCEPTED 0x00
	This constant is used as return value for "can_cmd" function. More...

#define	CAN_CMD_REFUSED 0xFF
	This constant is used as return value for "can_cmd" function. More...

#define	CAN_DATA_FRAME 0
	This constant is used for MOB Initialization request. More...

#define	CAN_MOB_NOT_ALLOCATED 0xFF
	This constant is used for MOB Allocation status. More...

#define	CAN_REMOTE_FRAME 1
	This constant is used for MOB Initialization request. More...

#define	CAN_STATUS_BUSOFF 0x04
	This constant is used as return value for "can_get_status" function. More...

#define	CAN_STATUS_COMPLETED 0x00
	This constant is used as return value for "can_get_status" function. More...

#define	CAN_STATUS_ERROR 0x02
	This constant is used as return value for "can_get_status" function. More...

#define	CAN_STATUS_NOT_COMPLETED 0x01
	This constant is used as return value for "can_get_status" function. More...

#define	CAN_STATUS_WAKEUP 0x03
	This constant is used as return value for "can_get_status" function. More...

Functions
void	can_clear_status (U8 ch, U8 mob)
	Clear All Status on CAN Channel for a selected MOB. More...

U8	can_enable_interrupt (U8 ch)
	Enable interrupt on CAN Channel. More...

Union64	can_get_mob_data (U8 ch, U8 handle)
	Get Mob data from a selected MOB. More...

U8	can_get_mob_dlc (U8 ch, U8 handle)
	Get Mob dlc from a selected MOB. More...

U32	can_get_mob_id (U8 ch, U8 handle)
	Get Mob ID from a selected MOB. More...

U8	can_init (U8 ch, U32 can_msg_ram_add, U8 operating_mode, void(*can_msg_callback)(U8, U8))
	Initialize CAN channel. More...

U8	can_mob_alloc (U8 ch)
	Allocate one MOB in a specific CAN Channel. More...

U8	can_mob_free (U8 ch, U8 handle)
	Free one specific MOB in a specific CAN Channel. More...

U8	can_mob_get_status (U8 ch, U8 handle)
	Get Mob status from a selected MOB. More...

U8	can_rx (U8 ch, U8 handle, U8 req_type, const can_msg_t *can_msg)
	Start Reception. More...

U8	can_tx (U8 ch, U8 handle, U8 dlc, U8 req_type, const can_msg_t *can_msg)
	Start Transmission. More...

#define CAN_CMD_ACCEPTED 0x00

This constant is used as return value for "can_cmd" function.

Referenced by can_enable_interrupt(), can_init(), can_mob_free(), can_rx(), and can_tx().

#define CAN_CMD_REFUSED 0xFF

This constant is used as return value for "can_cmd" function.

Referenced by can_enable_interrupt(), can_example_prepare_data(), can_example_prepare_data_to_send(), can_init(), can_mob_alloc(), can_mob_free(), can_mob_get_status(), can_rx(), and can_tx().

#define CAN_DATA_FRAME 0

This constant is used for MOB Initialization request.

#define CAN_MOB_NOT_ALLOCATED 0xFF

This constant is used for MOB Allocation status.

#define CAN_REMOTE_FRAME 1

This constant is used for MOB Initialization request.

Referenced by can_rx(), and can_tx().

#define CAN_STATUS_BUSOFF 0x04

This constant is used as return value for "can_get_status" function.

Referenced by can0_int_busoff_handler(), can1_int_busoff_handler(), and main().

#define CAN_STATUS_COMPLETED 0x00

This constant is used as return value for "can_get_status" function.

Referenced by can0_int_rx_handler(), can0_int_tx_handler(), can1_int_rx_handler(), can1_int_tx_handler(), can_mob_get_status(), and main().

#define CAN_STATUS_ERROR 0x02

This constant is used as return value for "can_get_status" function.

Referenced by can0_int_cerr_handler(), can1_int_cerr_handler(), can_mob_get_status(), and main().

#define CAN_STATUS_NOT_COMPLETED 0x01

This constant is used as return value for "can_get_status" function.

Referenced by can_mob_get_status().

#define CAN_STATUS_WAKEUP 0x03

This constant is used as return value for "can_get_status" function.

Referenced by can0_int_wakeup_handler(), and can1_int_wakeup_handler().

void can_clear_status	(	U8	ch,
		U8	mob
	)

Clear All Status on CAN Channel for a selected MOB.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)
mob	CAN MOB number

References CANIF_mob_clear_status.

U8 can_enable_interrupt ( U8 ch )

Enable interrupt on CAN Channel.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)

Returns: U8 CAN_CMD_REFUSED or CAN_CMD_ACCEPTED

References CAN0_INT_BOFF_LEVEL, can0_int_busoff_handler(), can0_int_cerr_handler(), CAN0_INT_ERR_LEVEL, can0_int_rx_handler(), CAN0_INT_RX_LEVEL, can0_int_tx_handler(), CAN0_INT_TX_LEVEL, CAN0_INT_WAKE_UP_LEVEL, can0_int_wakeup_handler(), CAN1_INT_BOFF_LEVEL, can1_int_busoff_handler(), can1_int_cerr_handler(), CAN1_INT_ERR_LEVEL, can1_int_rx_handler(), CAN1_INT_RX_LEVEL, can1_int_tx_handler(), CAN1_INT_TX_LEVEL, CAN1_INT_WAKE_UP_LEVEL, can1_int_wakeup_handler(), CAN_CMD_ACCEPTED, CAN_CMD_REFUSED, CANIF_enable_interrupt, and INTC_register_interrupt().

Referenced by can_init().

Union64 can_get_mob_data	(	U8	ch,
		U8	handle
	)

Get Mob data from a selected MOB.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)
handle	CAN MOB number

Returns: Union64 See compiler.h file for type return definition

References CANIF_mob_get_ptr_data, and data.

Referenced by can_out_callback_channel0().

U8 can_get_mob_dlc	(	U8	ch,
		U8	handle
	)

Get Mob dlc from a selected MOB.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)
handle	CAN MOB number

Returns: U8 Return the DLC

References CANIF_mob_get_dlc.

Referenced by can_out_callback_channel0().

U32 can_get_mob_id	(	U8	ch,
		U8	handle
	)

Get Mob ID from a selected MOB.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)
handle	CAN MOB number

Returns: U32 Return the ID

References CANIF_get_ext_id.

Referenced by can_out_callback_channel0().

U8 can_init	(	U8	ch,
		U32	can_msg_ram_add,
		U8	operating_mode,
		void(*)(U8, U8)	can_msg_callback
	)

Initialize CAN channel.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)
can_msg_ram_add	Address of the location of MOB Ram Buffer
operating_mode	Selection between CAN_CHANNEL_MODE_NORMAL or CAN_CHANNEL_MODE_LISTENING or CAN_CHANNEL_MODE_LOOPBACK
can_msg_callback	Callback for hardware interrupt

Returns: U8 CAN_CMD_REFUSED or CAN_CMD_ACCEPTED

U8 can_mob_alloc ( U8 ch )

Allocate one MOB in a specific CAN Channel.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)

Returns: U8 CAN_CMD_REFUSED or the number of the MOB selected

References CAN_CMD_REFUSED, can_mob_alloc_vector0, can_mob_alloc_vector1, CANIF_clr_mob, i, and NB_MOB_CHANNEL.

Referenced by can_example_prepare_data(), can_example_prepare_data_to_receive(), can_example_prepare_data_to_send(), and main().

U8 can_mob_free	(	U8	ch,
		U8	handle
	)

Free one specific MOB in a specific CAN Channel.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)
handle	CAN MOB number

Returns: U8 CAN_CMD_REFUSED or CAN_CMD_ACCEPTED

References CAN_CMD_ACCEPTED, CAN_CMD_REFUSED, can_mob_alloc_vector0, can_mob_alloc_vector1, and NB_MOB_CHANNEL.

Referenced by can_out_callback_channel0(), and can_out_callback_channel1().

U8 can_mob_get_status	(	U8	ch,
		U8	handle
	)

Get Mob status from a selected MOB.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)
handle	CAN MOB number

Returns: U8 CAN_CMD_REFUSED or CAN_STATUS_ERROR or CAN_STATUS_COMPLETED or CAN_STATUS_NOT_COMPLETED

References CAN_CMD_REFUSED, CAN_STATUS_COMPLETED, CAN_STATUS_ERROR, CAN_STATUS_NOT_COMPLETED, CANIF_get_interrupt_error_status, CANIF_mob_get_status, MOB_RX_COMPLETED, MOB_RX_COMPLETED_DLCW, MOB_TX_COMPLETED, NB_MOB_CHANNEL, and status.

U8 can_rx	(	U8	ch,
		U8	handle,
		U8	req_type,
		const can_msg_t *	can_msg
	)

Start Reception.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)
handle	CAN MOB number
req_type	CAN_DATA_FRAME or CAN_REMOTE_FRAME
can_msg	CAN Message

Returns: U8 CAN_CMD_REFUSED or CAN_CMD_ACCEPTED

References CAN_CMD_ACCEPTED, CAN_CMD_REFUSED, CAN_REMOTE_FRAME, CANIF_config_rx, CANIF_mob_enable, CANIF_mob_enable_interrupt, CANIF_mob_set_automode, CANIF_set_data, CANIF_set_ext_id, CANIF_set_ext_idmask, CANIF_set_rtr, CANIF_set_rtrmask, CANIF_set_std_id, CANIF_set_std_idmask, data, can_msg_t::id, can_msg_t::id_mask, can_msg_t::ide_bit, and NB_MOB_CHANNEL.

Referenced by can_example_prepare_data(), can_example_prepare_data_to_receive(), and main().

U8 can_tx	(	U8	ch,
		U8	handle,
		U8	dlc,
		U8	req_type,
		const can_msg_t *	can_msg
	)

Start Transmission.

Parameters

ch	CAN channel selected 0 (CAN Channel 0) 1 (CAN Channel 1)
handle	CAN MOB number
dlc	Datalength
req_type	CAN_DATA_FRAME or CAN_REMOTE_FRAME
can_msg	CAN Message

Returns: U8 CAN_CMD_REFUSED or CAN_CMD_ACCEPTED

References CAN_CMD_ACCEPTED, CAN_CMD_REFUSED, CAN_REMOTE_FRAME, CANIF_config_tx, CANIF_mob_clr_dlc, CANIF_mob_enable, CANIF_mob_enable_interrupt, CANIF_mob_set_automode, CANIF_mob_set_dlc, CANIF_set_data, CANIF_set_ext_id, CANIF_set_ext_idmask, CANIF_set_rtr, CANIF_set_rtrmask, CANIF_set_std_id, CANIF_set_std_idmask, data, can_msg_t::id, can_msg_t::id_mask, can_msg_t::ide_bit, and NB_MOB_CHANNEL.

Referenced by can_example_prepare_data(), and can_example_prepare_data_to_send().